v1.1.1

ModelPredictiveControl v1.1.1

Diff since v1.1.0

• fixed: remove a type-instability in LinMPC and NonLinMPC introduced in v1.1.0
• added: reduce allocations with PredictiveControllers using new fields in mpc.buffer object
• added: improve performance with 4 iszero_X fields for each PredictiveController weight, to skip computations when possible
• changed: moved all controller weights in mpc.weights struct to improve code re-use
• test: new custom constraint violation tests that use Ue argument

Merged pull requests:

• Fix type instability in LinMPC and NonLinMPC (introduced in 1.1.0) (#130) (@franckgaga)
• Changed: moved all controller weights in mpc.weights struct (#131) (@franckgaga)
• Added: iszero_W field in for the 4 weights in ControllerWeights struct (#132) (@franckgaga)

v1.1.0

ModelPredictiveControl v1.1.0

Diff since v1.0.2

• added: support for custom nonlinear inequality constraints gc in NonLinMPC
• added: call JE and gc once in NonLinMPC constructor and show stacktrace if it fails (to guide the user)
• doc: additional details on vector dimensions
• doc: documents the dummy function plot_recipe instead of plot to avoid confusion
• tests: new test for custom nonlinear constraint violation

Merged pull requests:

• Added: support for custom nonlinear constraints gc in NonLinMPC (#118) (@franckgaga)
• Avoid introducing MPC.plot (#120) (@baggepinnen)
• Custom constraints : add tests (#128) (@franckgaga)

Closed issues:

• plot not working (#119)

v1.0.2

ModelPredictiveControl v1.0.2

Diff since v1.0.1

• changed: removed code related to Julia 1.6 compatibility (1.10 is the new LTS)
• doc: add compat info to ModelingToolkit.jl example
• doc: various minor modifications

Merged pull requests:

• Added: details in observability error message, modify CI for new release and MTK exemple debug (#117) (@franckgaga)
• Add compat details on MTK.jl bugfixes (#122) (@franckgaga)
• Doc correction and simple CI fix (#123) (@franckgaga)
• doc: change slmpc speed gain for the real benchmark (#125) (@franckgaga)
• bump (#126) (@franckgaga)

Closed issues:

• Support for dynamic differential programming in a model predictive context (#109)
• MTK example no longer work (#116)
• linearize is throwing an error when using an empty disturbance (#121)

v1.0.1

ModelPredictiveControl v1.0.1

Diff since v1.0.0

• changed: more precise error for LinModel with non-zero D matrix
• doc: MTK example error message for non-strictly proper systems
• doc: MTK example now uses the p argument of NonLinModel
• doc: remove old stuff that no longer applies
• doc: various improvements

Merged pull requests:

• doc: MTK example throw error for non-strictly proper systems (#110) (@franckgaga)
• doc: add the parameter p in f and h function signature (#111) (@franckgaga)
• doc: remove stuff that no longer applies (#113) (@franckgaga)
• bump version (#114) (@franckgaga)

Closed issues:

• Better integration with ModellingToolkit (#106)
• Avoid Matrix Inversion in the MovingHorizonEstimator (#112)

v1.0.0

ModelPredictiveControl v1.0.0

Diff since v0.24.1

• breaking change: NonLinModel new p argument in f/f! and h/h! function signature
• breaking change: NonLinMPC new p argument in JE function signature
• added: support for plant model parameters $\mathbf{p}$ in NonLinModel
• added: support for economic function parameters $\mathbf{p}$ in NonLinMPC
• doc: ModelingToolkit integration example on the pendulum model
• test: improve coverage
• debug: ExplicitMPC correct error message with the unsupported setconstraint! method
• added: validate economic function $J_E$ argument signature

Merged pull requests:

• Fix #103 (#104) (@baggepinnen)
• Preparation for v1.0.0 release (#105) (@franckgaga)
• Fixing documentation deployement (#107) (@franckgaga)

Closed issues:

• Code coverage token secret (#103)
• Better integration with ModellingToolkit (#106)

v0.24.1

ModelPredictiveControl v0.24.1

Diff since v0.24.0

• added: print warning if preparestate! is called after moveinput! or evaloutput with current estimators
• added: reduce allocations with linearize!
• added: reduce allocations with moveinput! calls with new buffer objects
• debug: evaloutput on InternalModel now include current stochastic estimate $\mathbf{\hat{y}_s}$
• test: add test to verify evaloutput correctness on InternalModel
• test and precompile: add preparestate! where needed to avoid the warnings
• doc: various improvements

Merged pull requests:

• minor doc correction (#97) (@franckgaga)
• doc: minor doc correction (#99) (@franckgaga)
• debug: make it work on Julia nightly (#100) (@franckgaga)
• Reduce allocations in linearize! (#101) (@franckgaga)
• Warning preparestate!, debug InternalModel, reduce alloc PredictiveController (#102) (@franckgaga)

v0.24.0

ModelPredictiveControl v0.24.0

Diff since v0.23.1

• breaking change: MovingHorizonEstimator now default to direct=true
• added: the current/filter formulation of the MovingHorizonEstimator
• doc: explicitly list all the keyword arguments of all the state estimator
• added: soft real time utilities
• added: InternalModel now produces 0 allocation with preparestate! and updatestate! calls
• tests: new integration tests that compare unconstrained MHE to UKF and KF results
• tests: new integration that compare LinModel and NonLinModel

Merged pull requests:

• Added: soft real time utilities (#94) (@franckgaga)
• added: MovingHorizonEstimator support for direct=true, initialized with P̂(-1|-1) (#96) (@franckgaga)

Closed issues:

• Real-time loop tools (#85)

v0.23.1

ModelPredictiveControl v0.23.1

Diff since v0.23.0

• Luenberger, SteadyKalmanFilter, KalmanFilter and UnscentedKalmanFilter now produce 0 allocation with preparestate! and updatestate! calls
• doc: minor corrections

Merged pull requests:

• added: doc correction and reduce allocations for all Kalman filters (#93) (@franckgaga)

Closed issues:

• Support for current estimators and V1 soon? (#89)

v0.23.0

ModelPredictiveControl v0.23.0

Diff since v0.22.1

BREAKING CHANGES

• preparestate! should be called before solving the MPC optimization with moveinput!
• current form by default for all StateEstimator
• ym keyword argument of moveinput! removed (was only for InternalModel, I now use the new preparestate! method)
• MovingHorizonEstimator advanced constructor (with complete covariance matrices): covestim and optim are now keyword arguments instead of positional arguments.

Changelog

• added: current form for all StateEstimator except MovingHorizonEstimator, to improve accuracy and closed-loop robustness
• reduce allocation for SimModeland StateEstimator instances by using internal buffers
• multiple doc correction

Merged pull requests:

• minor doc correction (#87) (@franckgaga)
• minor doc additions (#88) (@franckgaga)
• added: support for the current form for all the state estimators (#90) (@franckgaga)
• Reduce allocations by avoiding empty for default d argument (#91) (@franckgaga)
• added: SimModelBuffer and StateEsimatorBuffer objects to reduce the allocations (#92) (@franckgaga)

v0.22.1

ModelPredictiveControl v0.22.1

Diff since v0.22.0

• added: support for Mwt, Nwt and Lwt keyword arguments in setmodel! (to simplify the API)
• reduce allocations in setconstraint!
• minor doc corrections

Merged pull requests:

• non unicode alternative setmodel MPC (#79) (@franckgaga)
• minor doc correction (#80) (@franckgaga)
• idem (#81) (@franckgaga)
• doc: change nomenclature EMPC (#83) (@franckgaga)
• Minor correction doc (#84) (@franckgaga)
• Added: Mwt, Nwt and Lwt kwargs in setmodel! (#86) (@franckgaga)

Closed issues:

• How to successfully impose constraints to a Control Variable with high priority (#78)